#ifndef OMPL_BASE_SIMPLE_COST_ESTIMATOR_
#define OMPL_BASE_SIMPLE_COST_ESTIMATOR_

#include "ompl_extension/CostEstimatorBase.h"

namespace ompl
{
  namespace base
  {
    class ZeroCostStateCostEstimator : public StateCostEstimator
    {
    public:
      ZeroCostStateCostEstimator(SpaceInformation* si) : StateCostEstimator(si) {}

      double computeCost(const State* state) const
      {
        return 0.0;
      }
    };


    class LengthMotionCostEstimator : public MotionCostEstimator
    {
    public:
      LengthMotionCostEstimator(SpaceInformation* si) : MotionCostEstimator(si) {}

      double computeCost(const State* s1, const State* s2) const
      {
        return si_->distance(s1, s2);
      }
    };
  }
}

#endif
